Implemented radio broadcast (#10)

Author: evoggy

cflib2/_rust.pyi

@@ -841,6 +841,24 @@ class LinkContext:
         # Returns
         List of URIs found
         """
+    async def send_radio_broadcast(
+        self,
+        radio_nth: builtins.int,
+        channel: builtins.int,
+        address: typing.Sequence[builtins.int],
+        data: typing.Sequence[builtins.int],
+    ) -> None:
+        r"""
+        Send a radio broadcast packet (no acknowledgement) on a specific radio and channel
+
+        This sends a raw packet without expecting an ack, useful for P2P communication.
+
+        # Arguments
+        * `radio_nth` - Radio dongle index (usually 0)
+        * `channel` - Radio channel number (0-125)
+        * `address` - 5-byte destination address
+        * `data` - Packet payload bytes
+        """
 
 class LinkError(CrazyflieError):
     r"""

rust/Cargo.lock

@@ -15,7 +15,8 @@ extension-module = ["pyo3/extension-module"]
 pyo3 = { version = "0.26" }
 pyo3-async-runtimes = { version = "0.26", features = ["tokio-runtime"] }
 crazyflie-lib = "0.7.1"
-crazyflie-link = "0.4.2"
+crazyflie-link = "0.4.3"
+crazyradio = "0.6.0"
 tokio = { version = "1.48", features = ["full"] }
 futures = "0.3.31"
 pyo3-stub-gen-derive = "0.17.0"

rust/Cargo.toml

@@ -22,7 +22,7 @@
 //! Link context for scanning and discovering Crazyflies
 
 use pyo3::prelude::*;
-use pyo3::exceptions::PyRuntimeError;
+use pyo3::exceptions::{PyRuntimeError, PyValueError};
 use pyo3_stub_gen_derive::*;
 use std::sync::Arc;
 
@@ -65,7 +65,7 @@ impl LinkContext {
         // Default to E7E7E7E7E7 if no address provided
         let addr = if let Some(addr_vec) = address {
             if addr_vec.len() != 5 {
-                return Err(PyRuntimeError::new_err(
+                return Err(PyValueError::new_err(
                     "Address must be exactly 5 bytes"
                 ));
             }
@@ -83,4 +83,34 @@ impl LinkContext {
             Ok(uris.into_iter().map(|uri| uri.to_string()).collect::<Vec<_>>())
         })
     }
+
+    /// Send a radio broadcast packet (no acknowledgement) on a specific radio and channel
+    ///
+    /// This sends a raw packet without expecting an ack, useful for P2P communication.
+    ///
+    /// # Arguments
+    /// * `radio_nth` - Radio dongle index (usually 0)
+    /// * `channel` - Radio channel number (0-125)
+    /// * `address` - 5-byte destination address
+    /// * `data` - Packet payload bytes
+    #[gen_stub(override_return_type(type_repr = "collections.abc.Coroutine[typing.Any, typing.Any, None]"))]
+    fn send_radio_broadcast<'py>(&self, py: Python<'py>, radio_nth: usize, channel: u8, address: Vec<u8>, data: Vec<u8>) -> PyResult<Bound<'py, PyAny>> {
+        if address.len() != 5 {
+            return Err(PyValueError::new_err("Address must be exactly 5 bytes"));
+        }
+        let mut addr_array = [0u8; 5];
+        addr_array.copy_from_slice(&address);
+
+        let ch = crazyradio::Channel::from_number(channel)
+            .map_err(|_| PyValueError::new_err(format!("Invalid channel {}: must be 0-125", channel)))?;
+
+        let inner = self.inner.clone();
+        pyo3_async_runtimes::tokio::future_into_py(py, async move {
+            let mut radio = inner.get_radio(radio_nth).await
+                .map_err(|e| PyRuntimeError::new_err(format!("Failed to get radio: {:?}", e)))?;
+            radio.send_packet_no_ack_async(ch, addr_array, data).await
+                .map_err(|e| PyRuntimeError::new_err(format!("Broadcast failed: {:?}", e)))?;
+            Ok(())
+        })
+    }
 }